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Locosim: An Open-Source Cross-Platform Robotics Framework

  • Conference paper
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Synergetic Cooperation between Robots and Humans (CLAWAR 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 811))

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Abstract

The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort out crucial requirements for a framework tailored for robotics: modularity and extensibility, source code reusability, feature richness, and user-friendliness. We implemented these requirements and collected best practices in Locosim, a cross-platform framework for simulation and real hardware. In this paper, we describe the architecture of Locosim and illustrate some use cases that show its potential.

Michele Focchi, Francesco Roscia: The authors equally contributed to this paper.

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Notes

  1. 1.

    Locosim can be downloaded from www.github.com/mfocchi/locosim.

  2. 2.

    Some of the functions in Locosim components, which are quite established for the robotics community, are named after [3].

  3. 3.

    A video showing the above-mentioned and other use cases can be found here: https://youtu.be/ZwV1LEqK-LU.

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Author information

Authors and Affiliations

  1. Dynamic Legged Systems (DLS), Istituto Italiano di Tecnologia (IIT), Genoa, Italy

    Michele Focchi, Francesco Roscia & Claudio Semini

  2. Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy

    Michele Focchi

  3. Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genova, Italy

    Francesco Roscia

Authors
  1. Michele Focchi
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  2. Francesco Roscia
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  3. Claudio Semini
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Corresponding author

Correspondence to Francesco Roscia .

Editor information

Editors and Affiliations

  1. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Ebrahim Samer El Youssef

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Leonardo Mejia Rincon

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Focchi, M., Roscia, F., Semini, C. (2024). Locosim: An Open-Source Cross-Platform Robotics Framework. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 811. Springer, Cham. https://doi.org/10.1007/978-3-031-47272-5_33

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